V2.1 调试完成 1V4没有问题

WXK

2024-04-25 ce9ff1ded137cb9915e4d8619b7bee5dc0e05138

 Src/main.c

@@ -33,7 +33,7 @@
#define NSH1 0x0001
#define GP   0x0002
#define FLASH_HARDWARE_VERSION_MAP      (uint32_t)0x08004F00    //硬件版本号和批次信息位置
#define DEBUG_MODE
//#define DEBUG_MODE
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -221,7 +221,7 @@
   hardware_pici = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
   hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
   //deca_sleep(1000);
   g_com_map[VERSION] = (1<<8)|68;
   g_com_map[VERSION] = (2<<8)|1;
    
    #ifdef DEBUG_MODE
   // g_com_map[GROUP_ID]=21;
@@ -354,7 +354,7 @@
  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();
   HAL_Init();

  /* USER CODE BEGIN Init */
//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
@@ -860,23 +860,24 @@
    freqlost_count+=1/(float)tag_frequency;
    range_lost_time +=1/(float)tag_frequency;
    
    if(freqlost_count>FREQ_LOST_TIME)
    {
        tag_frequency = NOTAG_FREQ;
        if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
        {
            lost_jumpcount = 0;
            g_start_send_flag=1;
        }
    }else{
//    if(freqlost_count>FREQ_LOST_TIME)
//    {
//        tag_frequency = NOTAG_FREQ;
//        if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
//        {
//            lost_jumpcount = 0;
//            g_start_send_flag=1;
//        }
//    }else{
        g_start_send_flag=1;
    }
    if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
    {
        SetNextPollTime(0);
    }else{
        SetNextPollTime(5);
    }
//    }
//    if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
//    {
//        SetNextPollTime(0);
//    }else{
//        SetNextPollTime(5);
//        SetNextPollTime(0);
//    }
   nomove_count+=1/(float)tag_frequency;
    if(motor_keeptime>0)
   {